Finger readjustment algorithm for object manipulation based on tactile information

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Title: Finger readjustment algorithm for object manipulation based on tactile information
Authors: Corrales Ramón, Juan Antonio | Torres, Fernando | Perdereau, Véronique
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Robotic manipulation | Tactile sensors | Contact breaking | In‐hand object reconfiguration
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2013
Publisher: InTech
Citation: CORRALES, J.A.; TORRES, F.; PERDEREAU, V. "Finger readjustment algorithm for object manipulation based on tactile information". International Journal of Advanced Robotic Systems. Vol. 10, No. 9 (2013). ISSN 1729-8806
Abstract: This paper presents a novel algorithm which registers pressure information from tactile sensors installed over the fingers of a robotic hand in order to perform manipulation tasks with objects. This algorithm receives as an input the joint trajectories of the fingers which have to be executed and adapts it to the real contact pressure of each finger in order to guarantee that undesired slippage or contact‐breaking is avoided during the execution of the manipulation task. This algorithm has been applied not only for the manipulation of normal rigid bodies but also for bodies whose centre of mass can be changed during the execution of the manipulation task.
Sponsor: The research leading to the results presented in this paper has been funded by the research projects DPI2008‐02647and DPI2011‐22766 of the Spanish Ministry of Science and Innovation and by the research project GRE10‐16 of the University of Alicante. This research has also received funding from the European Community’s Seventh Framework Programme (FP7/2007‐2013) under Grant Agreement no. 231640 and the research project HANDLE.
URI: http://hdl.handle.net/10045/25971
ISSN: 1729-8806 (Print) | 1729-8814 (Online)
DOI: 10.5772/53561
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2013 Corrales et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Peer Review: si
Publisher version: http://dx.doi.org/10.5772/53561
Appears in Collections:INV - AUROVA - Artículos de Revistas
Research funded by the EU

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